CN104864869B - A kind of initial dynamic attitude determination method of carrier - Google Patents

A kind of initial dynamic attitude determination method of carrier Download PDF

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CN104864869B
CN104864869B CN201510306597.7A CN201510306597A CN104864869B CN 104864869 B CN104864869 B CN 104864869B CN 201510306597 A CN201510306597 A CN 201510306597A CN 104864869 B CN104864869 B CN 104864869B
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CN104864869A (en
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李宝林
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CETC 26 Research Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
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Abstract

The invention discloses a kind of initial dynamic attitude determination method of carrier, this method is according to the initial attitude matrix of acquisitionSolution obtains θ, γ, so as to obtain the initial dynamic posture of carrier；The initial attitude matrixDetermine as follows, initial attitude matrixIt is a time-varying matrix, withRepresent, willResolve intoWithThree parts simultaneously solve available respectivelyPresent invention utilizes the fusion of GPS and accelerometer information, obtains accurate real athletic posture matrix information.The present invention can solve inertial navigation product initial attitude for rock or line motion state under conventional attitude measurement method can not correctly obtain attitude information the defects of, improve inertial navigation product attitude measurement accuracy and adaptability.

Description

A kind of initial dynamic attitude determination method of carrier
Technical field
The present invention relates to a kind of initial dynamic attitude determination method of carrier, and its effect is carried for the pose stabilization control of machine For the attitude information of dynamic high bandwidth, belong to technical field of inertial.
Background technology
Attitude information needed for the pose stabilization control of machine is provided by inertial navigation product, inertial navigation production Product have the standard fitting of the features such as small volume, in light weight, reliability is high, almost machine pose stabilization control field.In machine In the application of pose stabilization control, machine initial attitude is divided into two major classes：One, static, i.e., initial attitude is a stable fixation Value；Two, dynamic, that is, rock or motion conditions under posture be the continually changing value for having certain bandwidth.Machine initial attitude , will also the continuously continual real-time attitude value for determining machine, that is, pass through inertial navigation product and navigation appearance is provided after it is determined that State.Therefore, need to be that dynamic machine posture measures to initial attitude in engineer applied, could so improve machine appearance The environment practicality and user experience of state stability contorting.
Machine initial attitude can be provided in existing many similar inertial navigation products greatly as the posture under static conditions Navigation.The conventional method of the determination of initial attitude is determined by way of accelerometer sensitive gravitational acceleration component.Often The concrete principle of rule method is as follows：
If n systems are geographic coordinate system (east-north-day), the coordinate system after coarse alignment is n ' systems, and carrier coordinate system is b systems, first First carry out the coarse alignment of system.
Acceleration of gravity and earth rotation are projected to b systems, obtain following two formula：
Wherein gbAnd ωie bConvert to obtain by accelerometer and gyro data, if accelerometer and gyro output are respectively fbAnd ωb,For from n systems to the transformation matrix of coordinates of b systems.
Approx have：
ωie b≈ωb,gb=-fb
I.e.
Wherein：
So as to have：
After solving C11-C33, obtain
After having tried to achieve θ, γ, that is, complete the determination of the static initial attitude of inertial navigation product.
Using this technical measures, gbAnd ωie bPass through accelerometer and gyro (have ignored carrier rocks and line moves) Data reduction obtains, and navigation product can only provide static initial state information.But machine (carrier) suffers from following two first The influence of beginning state：
1. machine (carrier) has the original state rocked；
The original state of machine 2. (carrier) wired motion；
Conventional method could can only accurately obtain its initial state information when machine (carrier) original state is static. Machine (carrier) have rock or line motion original state when, this attitude information can not accurately reflect machine (carrier) Posture.In actual applications, the few remains stationaries of the initial attitude of machine are constant, and the motion state of its initial attitude is all Can not predefine, may it is static, only rock, only wired motion or it is existing rock again wired motion etc. complexity initial shape State.When original state is not static, the result that conventional scheme provides will produce substantial deviation, cause machine stability contorting portion Separate existing wrong judgement.Therefore, the stability contorting for machine being carried out according to this attitude information will bring wrong control knot Fruit.
The content of the invention
For deficiencies of the prior art, it is an object of the invention to provide a kind of initial dynamic posture of carrier to determine Method, the present invention can solve inertial navigation product initial attitude for rock or line motion state under conventional attitude measurement method not The defects of attitude information can correctly be obtained, improve the accuracy and adaptability of inertial navigation product attitude measurement.
The technical proposal of the invention is realized in this way：
A kind of initial dynamic attitude determination method of carrier, this method is according to the initial attitude matrix of acquisitionSolution obtains θ, γ, so as to obtain the initial dynamic posture of carrier；It is characterized in that：The initial attitude matrixDetermine as follows, just Beginning attitude matrixIt is a time-varying matrix, withRepresent, willResolve intoWithThree parts are simultaneously Solve respectively available
MatrixWhereinWithBy delivering Longitude and latitude where body are tried to achieve,Determined in real time by the time t of initial alignment experience, i.e.,
Wherein, L0And λ0Respectively alignment starting t0The latitude and longitude of moment inertial navigation, LtAnd λtDuring respectively alignment starting t Carve the latitude and longitude of inertial navigation；ωieRefer to earth rotation angular speed；Above-mentioned a few formulas arrange by merging, and obtain
MatrixThe angular movement information exported using gyro, passes through inertial navigation attitude updating algorithm Try to achieve, andFor i0It is the angular transformation vector to b systems,Antisymmetry Matrix.
MatrixThe transformation matrix between two inertial coodinate systems is represented, is a constant value battle array, can be according to inertial navigation specific force side JourneyTry to achieve；Wherein,
First, inertial navigation specific force equation is rewritten intoBy equation Both sides derivation simultaneously, and considerThenTherefore specific force side Cheng BianweiAnd by the formula both sides simultaneously premultiplication I.e. in ib0Fasten and projectWherein, vb(t) it is inertial navigation The projection that ground speed is fastened in b, by being obtained after accelerometer and the fusion of GPS metrical informations by conversion；
Specific force equation both sides are integrated simultaneously, obtainedWhereinT=t is taken respectivelylAnd t=tmTwo In individual alignment procedures at different moments, then haveWithRecycle matrix structure Coordinate system transformation constant value matrix can be tried to achieve by making algorithmI.e.
Wherein,For GPS velocity information and accelerometer information fusion information；
Wherein, vn(t) it is the speed under n systems,Derivative for the speed under n systems is acceleration,For under n systems Specific force, gnFor the acceleration of gravity under n systems,For the rotational-angular velocity of the earth under n systems,For the position under n systems Rate matrix,For the rate matrix under n systems, n systems are navigational coordinate system, and b systems are carrier coordinate system, i0It is at the beginning of inertia Beginning coordinate system,It is the inertial coodinate system for carrier relative to initial time inertial space,ForIt is to i0The conversion of system Matrix,It is the transformation matrix to n systems,ForSpeed under system,ForGPS velocity arrow under system Amount,The velocity for integrating to obtain for accelerometer.
Compared with prior art, the invention has the advantages that：
The key point of the dynamic attitude determination method of information fusion is to obtain to rock or line motion state precisely in real time The attitude information of lower machine (carrier).The advantages of this programme is the fusion that make use of GPS and accelerometer information, is obtained accurate true Real athletic posture matrix information.Compared with conventional method, adaptability, real-time, the accuracy of the acquisition of this method attitude information Increase substantially.So that machine (carrier) need not keep after the inactive state of certain time setting in motion again first, and Be from start to finish machine (carrier) motion state can be in and the precision of its stability contorting and experience will not by it is any not Good influence.
Brief description of the drawings
Fig. 1-machine (carrier) original state is to rock or the inertial navigation theory diagram of line motion state.
The comparison curves of Fig. 2-present invention and conventional scheme implementation result.
Embodiment
The present invention is as prior art, and the initial attitude matrix according to acquisitionSolution obtains θ, γ, so as to To the initial dynamic posture of carrier.Its difference is, initial attitude matrix in this methodA time-varying matrix, variable with (t) mode represents, by tTear the form for being write as two matrix multiples openIn formulaWhereinWithCan be as where motion carrier Longitude and latitude are tried to achieve,It can be determined in real time by the time t of initial alignment experience, i.e.,
Wherein, L0And λ0Respectively alignment starting t0The latitude and longitude of moment inertial navigation, LtAnd λtDuring respectively alignment starting t Carve the latitude and longitude of inertial navigation.Above-mentioned a few formulas arrange by merging, and obtain
Try to achieve matrixAfterwards, attitude matrixSolution translate intoSolution,Represent Inertial navigation relative to initial time inertial space transformation matrix.So far, by relative to the initial alignment posture square of navigational coordinate system Battle arraySolve problems conversion is the transformation matrices of reference data for inertial spaceSolve problems.It can further incite somebody to actionTear open and write as two parts, i.e.,In the formula, using the angular movement information of gyro output, pass through inertial navigation Attitude updating algorithmMatrix can be tried to achieve in real timeAnd
The transformation matrix between two inertial coodinate systems is represented, is a constant value battle array, can be according to inertial navigation ratio equationTried to achieve after appropriate deformation.Wherein,
Transformation matrix is described in detailed belowSolution procedure.
First, inertial navigation specific force equation is rewritten intoIf by equation Both sides derivation simultaneously, and considerIt can then obtain Therefore, the specific force equation of rewriting is changed intoIt is and the formula both sides are same Shi ZuochengI.e. in ib0Fasten and project Wherein, vb(t) be projection that inertial navigation ground speed is fastened in b, by after accelerometer and the fusion of GPS metrical informations by conversion Obtain.
Specific force equation both sides are integrated simultaneously, obtainedWhereinThe key of the two integration types It is to constructIt represents the acceleration over the ground of motion carrier.T=t is taken respectivelylAnd t=tmIn two alignment procedures not In the same time, the moment such as intermediate time and finally, then haveWithRecycle square Battle array construction algorithm can try to achieve constant value matrixI.e.
Wherein,For GPS velocity information and accelerometer information fusion information.
In summary, it is of the invention by initial attitude matrixResolve intoWithThree parts are distinguished Solve, its inertial navigation principle is as shown in figure 1, they, using inertial coodinate system as reference data, therefore can effectively solve machine Device (carrier) have rock or line motion original state attitude information obtain problem.
The implementation of this programme need not increase any hardware facility on the basis of original conventional method hardware, only need by The operation part write-in CPU of new method can be achieved.Shown in Fig. 2 is the comparison of this programme and conventional scheme implementation result.Machine Device (carrier) actual posture is as shown in red line in figure, and not as shown in blue line in figure, actual posture suppresses to change.
The above embodiment of the present invention is only example to illustrate the invention, and is not the implementation to the present invention The restriction of mode.For those of ordinary skill in the field, other can also be made not on the basis of the above description With the change and variation of form.Here all embodiments can not be exhaustive.It is every to belong to technical scheme Row of the obvious changes or variations amplified out still in protection scope of the present invention.

Claims (1)

1. a kind of initial dynamic attitude determination method of carrier, this method is according to the initial attitude matrix of acquisitionSolution obtain θ, γ, so as to obtain the initial dynamic posture of carrier；It is characterized in that：The initial attitude matrixDetermine as follows, initially Attitude matrixIt is a time-varying matrix, withRepresent, willResolve intoWithThree parts are simultaneously divided It Qiu Xie not can obtain
MatrixWhereinWithWhere carrier Longitude and latitude try to achieve,Determined in real time by the time t of initial alignment experience, i.e.,
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Wherein, L0And λ0Respectively alignment starting t0The latitude and longitude of moment inertial navigation, LtAnd λtRespectively alignment starting t is used to The latitude and longitude led；ωieRefer to earth rotation angular speed；Arrange, obtain by merging
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MatrixThe angular movement information exported using gyro, passes through inertial navigation attitude updating algorithm Try to achieve, and For i0It is the angular transformation vector to b systems,ForAntisymmetry square Battle array；
MatrixThe transformation matrix between two inertial coodinate systems is represented, is a constant value battle array, can be according to inertial navigation specific force equationTry to achieve；Wherein,
<mrow> <msubsup> <mi>&amp;omega;</mi> <mrow> <mi>i</mi> <mi>n</mi> </mrow> <mi>n</mi> </msubsup> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <msubsup> <mi>&amp;omega;</mi> <mrow> <mi>i</mi> <mi>e</mi> </mrow> <mi>n</mi> </msubsup> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mi>&amp;omega;</mi> <mrow> <mi>e</mi> <mi>n</mi> </mrow> <mi>n</mi> </msubsup> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>,</mo> <msubsup> <mi>&amp;omega;</mi> <mrow> <mi>i</mi> <mi>e</mi> </mrow> <mi>n</mi> </msubsup> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <msup> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <msub> <mi>&amp;omega;</mi> <mrow> <mi>i</mi> <mi>e</mi> </mrow> </msub> <mi>cos</mi> <mi> </mi> <msub> <mi>L</mi> <mi>t</mi> </msub> </mrow> </mtd> <mtd> <mrow> <msub> <mi>&amp;omega;</mi> <mrow> <mi>i</mi> <mi>e</mi> </mrow> </msub> <mi>sin</mi> <mi> </mi> <msub> <mi>L</mi> <mi>t</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mi>T</mi> </msup> <mo>,</mo> <msubsup> <mi>&amp;omega;</mi> <mrow> <mi>e</mi> <mi>n</mi> </mrow> <mi>n</mi> </msubsup> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <msup> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mo>-</mo> <msub> <mover> <mi>L</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>t</mi> </msub> </mrow> </mtd> <mtd> <mrow> <msub> <mover> <mi>&amp;lambda;</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>t</mi> </msub> <mi>cos</mi> <mi> </mi> <msub> <mi>L</mi> <mi>t</mi> </msub> </mrow> </mtd> <mtd> <mrow> <msub> <mover> <mi>&amp;lambda;</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>t</mi> </msub> <mi>sin</mi> <mi> </mi> <msub> <mi>L</mi> <mi>t</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mi>T</mi> </msup> <mo>;</mo> </mrow>
First, inertial navigation specific force equation is rewritten intoBy equation Both sides derivation simultaneously, and considerThenIt is therefore used Specific force equation is led to be changed intoAnd by the formula both sides simultaneously premultiplicationI.e. in ib0Fasten and project Wherein, vb(t) be projection that inertial navigation ground speed is fastened in b, by after accelerometer and the fusion of GPS metrical informations by conversion Obtain；
Inertial navigation specific force equation both sides are integrated simultaneously, obtainedWhereinT=t is taken respectivelylAnd t=tmTwo In individual alignment procedures at different moments, then haveWithRecycle matrix construction Algorithm can try to achieve coordinate system transformation constant value matrixI.e.
<mrow> <msubsup> <mi>C</mi> <msub> <mi>i</mi> <mrow> <mi>b</mi> <mn>0</mn> </mrow> </msub> <msub> <mi>i</mi> <mn>0</mn> </msub> </msubsup> <mo>=</mo> <msup> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msup> <mrow> <mo>&amp;lsqb;</mo> <mrow> <msup> <mi>u</mi> <msub> <mi>i</mi> <mn>0</mn> </msub> </msup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>l</mi> </msub> <mo>)</mo> </mrow> </mrow> <mo>&amp;rsqb;</mo> </mrow> <mi>T</mi> </msup> </mtd> </mtr> <mtr> <mtd> <msup> <mrow> <mo>&amp;lsqb;</mo> <mrow> <msup> <mi>u</mi> <msub> <mi>i</mi> <mn>0</mn> </msub> </msup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>l</mi> </msub> <mo>)</mo> </mrow> <mo>&amp;times;</mo> <msup> <mi>u</mi> <msub> <mi>i</mi> <mn>0</mn> </msub> </msup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>m</mi> </msub> <mo>)</mo> </mrow> </mrow> <mo>&amp;rsqb;</mo> </mrow> <mi>T</mi> </msup> </mtd> </mtr> <mtr> <mtd> <msup> <mrow> <mo>&amp;lsqb;</mo> <mrow> <msup> <mi>u</mi> <msub> <mi>i</mi> <mn>0</mn> </msub> </msup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>l</mi> </msub> <mo>)</mo> </mrow> <mo>&amp;times;</mo> <msup> <mi>u</mi> <msub> <mi>i</mi> <mn>0</mn> </msub> </msup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>m</mi> </msub> <mo>)</mo> </mrow> <mo>&amp;times;</mo> <msup> <mi>u</mi> <msub> <mi>i</mi> <mn>0</mn> </msub> </msup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>l</mi> </msub> <mo>)</mo> </mrow> </mrow> <mo>&amp;rsqb;</mo> </mrow> <mi>T</mi> </msup> </mtd> </mtr> </mtable> </mfenced> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msup> <mrow> <mo>&amp;lsqb;</mo> <mrow> <msup> <mi>v</mi> <msub> <mi>i</mi> <mrow> <mi>b</mi> <mn>0</mn> </mrow> </msub> </msup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>l</mi> </msub> <mo>)</mo> </mrow> </mrow> <mo>&amp;rsqb;</mo> </mrow> <mi>T</mi> </msup> </mtd> </mtr> <mtr> <mtd> <msup> <mrow> <mo>&amp;lsqb;</mo> <mrow> <msup> <mi>v</mi> <msub> <mi>i</mi> <mrow> <mi>b</mi> <mn>0</mn> </mrow> </msub> </msup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>l</mi> </msub> <mo>)</mo> </mrow> <mo>&amp;times;</mo> <msup> <mi>v</mi> <msub> <mi>i</mi> <mrow> <mi>b</mi> <mn>0</mn> </mrow> </msub> </msup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>m</mi> </msub> <mo>)</mo> </mrow> </mrow> <mo>&amp;rsqb;</mo> </mrow> <mi>T</mi> </msup> </mtd> </mtr> <mtr> <mtd> <msup> <mrow> <mo>&amp;lsqb;</mo> <mrow> <msup> <mi>v</mi> <msub> <mi>i</mi> <mrow> <mi>b</mi> <mn>0</mn> </mrow> </msub> </msup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>l</mi> </msub> <mo>)</mo> </mrow> <mo>&amp;times;</mo> <msup> <mi>v</mi> <msub> <mi>i</mi> <mrow> <mi>b</mi> <mn>0</mn> </mrow> </msub> </msup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>m</mi> </msub> <mo>)</mo> </mrow> <mo>&amp;times;</mo> <msup> <mi>v</mi> <msub> <mi>i</mi> <mrow> <mi>b</mi> <mn>0</mn> </mrow> </msub> </msup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>l</mi> </msub> <mo>)</mo> </mrow> </mrow> <mo>&amp;rsqb;</mo> </mrow> <mi>T</mi> </msup> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow>
Wherein,For GPS velocity information and accelerometer information fusion information；
Wherein, vn(t) it is the speed under n systems,Derivative for the speed under n systems is acceleration,For the specific force under n systems, gnFor the acceleration of gravity under n systems,For the rotational-angular velocity of the earth under n systems,For the position rate matrix under n systems,For the rate matrix under n systems, n systems are navigational coordinate system, and b systems are carrier coordinate system, i0Be for inertia initial coordinate system, It is the inertial coodinate system for carrier relative to initial time inertial space,ForIt is to i0The transformation matrix of system,For i0 It is the transformation matrix to n systems,ForSpeed under system,ForGPS velocity vector under system,For Accelerometer integrates obtained velocity.
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